Patrol method and device, terminal equipment and storage medium

Abstract

The application is suitable for the technical field of inspection, and provides an inspection method, device, terminal equipment and storage medium, comprising: determining a target inspection position according to an inspection task, determining a first route according to a topological map and the target inspection position for each target inspection position, the first route being an optimal route between a first position and the target inspection position, determining a second route according to each first route, the second route being an optimal route for an inspection equipment to execute the inspection task, navigating the inspection equipment according to the second position and the second route, and collecting an environmental image of the target inspection position by the inspection equipment when the inspection equipment reaches each target inspection position, detecting whether the environmental image exists a target equipment in the inspection task, determining position information of the target equipment when the environmental image exists the target equipment, and inspecting the target equipment according to the position information of the target equipment. The application can realize automatic inspection and improve the automatic inspection efficiency of the inspection equipment.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of inspection, and particularly relates to an inspection method and device, a terminal device and a computer readable storage medium. BACKGROUND

[0002] In the fields of communication, transportation, fire protection and power, in order to ensure the stable and safe operation of related basic equipment such as communication base stations and power equipment, it is usually necessary to periodically inspect the basic equipment. At present, the inspection of various basic equipment is usually realized by manual inspection. However, since the basic equipment to be inspected is usually distributed in multiple locations, the manual inspection has high labor cost and time cost, and the manual inspection is usually greatly affected by the environment, and the inspection efficiency is low when the environment is harsh.

[0003] Therefore, it is necessary to provide a new inspection method to solve the above technical problems. SUMMARY

[0004] The embodiments of the application provide an inspection method and device, a terminal device and a storage medium, and the automatic inspection can be realized and the automatic inspection efficiency of the inspection equipment can be improved.

[0005] In a first aspect, the embodiments of the application provide an automatic inspection method, comprising:

[0006] determining a target inspection position according to an inspection task, wherein the number of the target inspection positions is greater than 1;

[0007] determining a first route according to a topological map and the target inspection position for each target inspection position, wherein the first route is an optimal route between a first position and the target inspection position, and the first position is an initial position of an inspection device;

[0008] determining a second route according to the first routes, wherein the second route is an optimal route for the inspection device to execute the inspection task;

[0009] navigating the inspection device according to a second position and the second route, and collecting an environment image of the target inspection position by the inspection device when the inspection device reaches each target inspection position, wherein the second position is a real-time position of the inspection device;

[0010] detecting whether the environment image contains a target device in the inspection task, and determining position information of the target device when the environment image contains the target device;

[0011] inspecting the target device according to the position information of the target device.

[0012] In a second aspect, the embodiments of the present application provide an automatic inspection device, comprising:

[0013] a task determination module configured to determine target inspection positions according to an inspection task, wherein the number of the target inspection positions is greater than 1;

[0014] a first route acquisition module configured to determine a first route for each of the target inspection positions according to a pre-constructed topological map and the target inspection position, wherein the first route is an optimal route between a first position and the target inspection position, and the first position is an initial position of an inspection device;

[0015] a second route acquisition module configured to determine a second route according to the first routes, wherein the second route is an optimal route for the inspection device to perform the inspection task;

[0016] an inspection module configured to navigate the inspection device according to a second position and the second route, and collect an environment image of each of the target inspection positions by the inspection device when the inspection device reaches the target inspection position, wherein the second position is a real-time position of the inspection device;

[0017] a detection module configured to detect whether the environment image contains a target device in the inspection task, and determine position information of the target device when the environment image contains the target device;

[0018] a device inspection module configured to inspect the target device according to the position information of the target device.

[0019] In a third aspect, the embodiments of the present application provide a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the automatic inspection method of the first aspect when executing the computer program.

[0020] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program implements the steps of the automatic inspection method of the first aspect when executed by a processor.

[0021] In a fifth aspect, the embodiments of the present application provide a computer program product, which, when executed on a terminal device, causes the terminal device to perform the automatic inspection method of any one of the first aspect.

[0022] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0023] In the embodiments of the present application, since there can be more than one target inspection position to be inspected, the corresponding target inspection position is determined according to the inspection task, the optimal first route from the initial position of the inspection device to the target inspection position is determined according to the topology map and the target inspection position, and the optimal route for the inspection device to perform the inspection task is determined according to each first route, and the second route is obtained. Since the second position is the real-time position of the inspection device, and the second route is the optimal route for the inspection device to perform the inspection task, that is, the second route is the route with the least time consumption or the shortest distance, the inspection device is navigated according to the second position and the first route, so that the inspection device can automatically inspect each target inspection position with high efficiency when performing the inspection task. At the same time, when the inspection device reaches each target inspection position, the environment image of the target inspection position is collected, so as to detect whether there is a target device in the target inspection position according to the environment image, so as to obtain the position information of the target device in the environment image when the target device exists in the environment image, so that the inspection device can more accurately inspect the target device, thereby improving the automatic inspection efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced.

[0025] Figure 1 is a flowchart of an inspection method provided by an embodiment of the present application;

[0026] Figure 2 is a topology map provided by an embodiment of the present application;

[0027] Figure 3 is a structural schematic diagram of an inspection device provided by an embodiment of the present application;

[0028] Figure 4 is a structural schematic diagram of a terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0029] In the following description, specific details such as specific system structures, techniques, etc. are presented in order to thoroughly understand the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits and methods are omitted to avoid unnecessary details that hinder the description of the present application.

[0030] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0031] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0032] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0034] Example One

[0035] Figure 1 A flowchart illustrating an automatic inspection method provided by an embodiment of the present invention is shown below, and details are as follows:

[0036] Step S101: Determine the target inspection location based on the inspection task, where the number of the target inspection locations is greater than 1.

[0037] The aforementioned inspection tasks can be one inspection task corresponding to one target inspection location, that is, one inspection task is a task plan for inspecting one target inspection location, or one inspection task can include task plans for inspecting multiple target inspection locations.

[0038] Optionally, since in practical applications, there may be multiple different devices at a single inspection location, and the types of devices at each inspection location may also be different, it is not necessary to inspect all devices at the inspection location during the inspection. Therefore, the inspection task also describes the devices that need to be inspected at each target inspection location. For example, suppose there are devices A, B, and C at inspection location 1. In a certain inspection task, inspection location 1 is one of the target inspection locations. For inspection location 1, devices B and C at inspection location 1 need to be inspected.

[0039] Specifically, since the user may plan more than one inspection task, meaning the inspection equipment may need to perform multiple inspection tasks, and one inspection task may correspond to multiple target inspection locations, this embodiment of the application determines all the target inspection locations that the inspection equipment needs to inspect based on one or more corresponding inspection tasks. Optionally, the corresponding inspection tasks can be determined based on the inspection date, and then the target inspection locations corresponding to these inspection tasks can be determined. For example, inspection tasks with the same inspection date can be grouped together, and the target inspection locations of each of these inspection tasks can be determined, thereby obtaining all the target inspection locations that need to be inspected on that day.

[0040] It should be noted that when there is only one target inspection location, the shortest route from the inspection equipment to this target inspection location can be directly used as the navigation route to navigate the inspection equipment without complex judgment. Therefore, this application embodiment only performs inspection based on the inspection method provided in this application embodiment when the number of target inspection locations is greater than 1, that is, when the number of target inspections determined according to the inspection task is greater than 1 (equivalent to needing to perform multi-point inspection).

[0041] In this embodiment of the application, at least two target inspection locations that need to be inspected by the inspection equipment are determined according to the inspection task, so that the inspection route can be determined subsequently based on each target inspection location.

[0042] Step S102: For each of the above-mentioned target inspection locations, determine the first route based on the pre-built topology map and the above-mentioned target inspection locations.

[0043] The first route described above is the optimal route between the first position and the target inspection position, where the first position is the initial position of the inspection equipment. The inspection equipment can be a robot or other device capable of automated inspection based on a corresponding algorithm.

[0044] Specifically, since there may be multiple reachable routes between the first position (i.e., the initial position of the inspection equipment) and each target inspection position, in order to improve inspection efficiency, the optimal route between the first position of the inspection equipment and each target inspection position is determined based on a pre-built topology map, thus obtaining the first route. The optimal route (first route) is determined based on the user's actual needs. It can be the route with the shortest travel time from the first position to the target inspection position, or the route with the lowest energy consumption of the inspection equipment within a preset threshold (such as the average travel time of each route between the first position and the target inspection position), etc., without any restrictions here.

[0045] In this embodiment of the application, since there may be multiple reachable routes between the first position (i.e. the initial position of the inspection equipment) and each target inspection position, in order to improve the inspection efficiency of the inspection equipment, the optimal route (i.e. the first route) between the inspection equipment and each target inspection position is determined according to the topology map, so that the optimal route for performing the inspection task can be determined based on each first route.

[0046] Step S103: Determine a second route based on each of the first routes, wherein the second route is the optimal route for the inspection equipment to perform the inspection task.

[0047] Specifically, since the inspection equipment inspects all the determined target inspection locations during the inspection process, in order to improve the inspection efficiency of the inspection equipment, in this embodiment of the application, a second route is determined based on each first route and the topology map. That is, for each target inspection location, the inspection equipment uses that target inspection location as the first inspection location to perform inspection routes for each target inspection location, and selects the optimal route as the required second route. In other words, the second route is the optimal inspection route that includes all target inspection locations based on one of the first routes.

[0048] Optionally, the second route is determined based on the user's actual needs. Usually, the route with the shortest time or the shortest distance required for the inspection equipment to inspect all target inspection locations based on the first location is taken as the optimal route (i.e., the second route). Alternatively, the route with the shortest time and the least energy consumption of the inspection equipment can be selected. There are no restrictions here.

[0049] In this embodiment of the application, since the inspection equipment needs to inspect more than one target inspection location, the optimal route for the inspection equipment to perform the inspection task is determined based on each first route. That is, the optimal route is used to inspect all target inspection locations, which can improve the inspection efficiency of the inspection equipment.

[0050] Step S104: Navigate the inspection equipment according to the second location and the second route, and when the inspection equipment reaches each of the target inspection locations, collect environmental images of the target inspection locations through the inspection equipment.

[0051] The second location mentioned above is the real-time location of the aforementioned inspection equipment.

[0052] Specifically, during automatic inspection using the inspection equipment, real-time navigation is performed based on the equipment's real-time location (i.e., the second location) and the second route used for inspection, ensuring the equipment follows the correct path. Upon reaching each target inspection location, since irrelevant objects (such as buildings) exist in the environment, affecting the inspection of the target equipment, an environmental image of the target inspection location is captured by a camera on the equipment. This image is then used by computer vision algorithms to locate the target equipment to be inspected at that location. Optionally, the environmental image can be a panoramic image, or multiple environmental images can be captured to ensure a complete view of the surrounding environment of the target inspection location.

[0053] Step S105: Detect whether the target device in the inspection task exists in the above environmental image, and if the target device exists in the above environmental image, determine the location information of the target device.

[0054] Specifically, since the target device at the target inspection location may not necessarily exist, and there are usually many overloaded tasks at the target inspection location, in order to accurately inspect the target device at the target inspection location, after acquiring the environmental image of the target inspection location, a pre-built neural network model is used to detect whether there is a target device that needs to be inspected at the target inspection location in the corresponding inspection task in the environmental image. When the target device that needs to be inspected is detected in the environmental image, the position information of the target device in the corresponding environmental image is output, so as to determine the position information of the target device at the target inspection location based on the position information of the target device in the environmental image, so as to carry out inspection based on the specific position information of the target device.

[0055] Step S106: Inspect the target device according to its location information.

[0056] Specifically, after obtaining the specific location information of the target equipment at the target inspection location, the inspection equipment is controlled to inspect the corresponding target equipment based on the location information, thereby realizing the task of inspecting the target equipment at the target inspection location.

[0057] In this embodiment, since the number of target inspection locations to be inspected is greater than one, meaning the inspection device needs to inspect multiple target inspection locations, to improve the inspection efficiency of the inspection device, the corresponding target inspection locations are first determined according to the inspection task. Then, based on the pre-built topology map and the target inspection locations, the optimal first route between the initial position of the inspection device and the target inspection locations is determined. Based on each first route, the optimal route for the inspection device to perform the inspection task is determined, resulting in a second route. Since the second position is the real-time position of the inspection device, and the second route is the optimal route for the inspection device to perform the inspection task (i.e., the route with the shortest time or the shortest distance), the inspection device is navigated based on the second position and the second route, enabling the inspection device to automatically inspect each target inspection location with high efficiency when performing the inspection task. Meanwhile, when the inspection equipment arrives at each target inspection location, it detects whether the target equipment in the inspection task exists in the target inspection location based on the environmental image of the target inspection location. When the target equipment exists in the environmental image, it obtains the location information of the target equipment, so that the inspection equipment can perform inspections on the target equipment more accurately based on the location information of the target equipment, thereby improving the efficiency of automatic inspection.

[0058] In some embodiments, the above inspection method further includes:

[0059] Based on all inspection locations and road conditions in the target area, determine the feasible routes between each pair of the aforementioned inspection locations.

[0060] Optionally, the target area mentioned above can be the area corresponding to the city, or it can be the area determined based on all the inspection locations.

[0061] A topology map of the target area is constructed based on each inspection location and the corresponding feasible route. The distances corresponding to each feasible route are marked on the topology map. The distances are used to calculate the time consumed by the inspection equipment when it performs inspections according to the feasible routes.

[0062] Specifically, to facilitate the determination of the second route, feasible routes (i.e., reachable routes) between each inspection location are determined based on all inspection locations and road conditions within the target area. These routes allow the inspection equipment to reach the other inspection location from either location. A topology map of the target area is then constructed based on each inspection location and its corresponding feasible routes. This topology map includes all feasible routes corresponding to all inspection locations within the target area, reducing the computational load required when determining the second route. Furthermore, to facilitate subsequent calculations, the distances corresponding to each feasible route are marked on the constructed topology map. This allows for the calculation of the time required for the inspection equipment to perform inspections along feasible routes based on the set operating speed of the inspection equipment (i.e., the speed at which the inspection equipment travels). In other words, the corresponding time (consumption) is determined based on the distance and operating speed. Optionally, since the determination of the first and second routes may also be based on the energy consumption of the inspection equipment corresponding to the feasible routes, the energy consumption data corresponding to each feasible route can also be marked on the topology map so as to determine the required second route in the future.

[0063] In this embodiment of the application, in order to facilitate the subsequent calculation of the second route when the inspection equipment performs inspection, the feasible routes between each pair of inspection locations are determined in advance based on the inspection locations and road conditions in the target area. Thus, a topology map is constructed based on the inspection locations and the corresponding feasible routes. At the same time, the distances corresponding to the feasible routes are marked in the topology map, which reduces the time required to determine the second route of inspection based on multiple target inspection locations, thereby improving inspection efficiency.

[0064] In some embodiments, step S103 includes:

[0065] A1. For each of the first routes mentioned above, a third route corresponding to the first route is determined based on the topology map. The third route is the optimal route for the inspection equipment to perform the inspection task based on the first route.

[0066] A2. Based on each of the above third routes, determine the third route with the shortest time to obtain the second route.

[0067] Specifically, since there is more than one feasible route between two target inspection locations, in order to obtain the optimal route (second route), in this embodiment, based on each target inspection location, a route that includes all target inspection locations is determined when the inspection equipment uses that target inspection location as the first inspection location. Then, the optimal route determined according to user requirements is used as the optimal route (third route) for performing the inspection task based on that target inspection location (i.e., using that target inspection location as the first inspection location). Since each third route includes all target inspection locations, to improve the efficiency of the inspection equipment in performing the inspection task, the third route with the shortest time consumption is determined based on each third route, and this shortest-time third route is used as the required second route for performing the inspection task. Optionally, if there is more than one third route with the shortest time consumption, i.e., multiple third routes with the shortest and the same time consumption, any one of these third routes is used as the second route, or the second route is determined based on the energy consumption of each of these third routes; no restrictions are imposed here.

[0068] For example, such as Figure 2 The topology map shown includes inspection locations A, B, and C, with M as the first address (i.e., the starting address of the inspection equipment). Numbers ① to ⑦ represent feasible routes determined based on road conditions; ① is the feasible route between M and A, and ②⑤ and ③⑤ are feasible routes between M and B, meaning there are two feasible routes between M and B. The first route from M to A is ①, the first route from M to B is ③, and the first route from M to C is ②④. Assuming A, B, and C are all target inspection locations, the determined third routes in this area include: based on the first route from M to A, third route a is ①⑧⑦⑥③, with a total length of 16.3 km; based on the first route from M to B, third route b is ③⑥⑦⑧①, with a total length of 16.3 km; and based on the first route from M to C, third route c is ②④⑦⑥③①①, with a total length of 20.8 km. Assuming the speed of the inspection equipment is 10 km / h, the time taken for the third route a, third route b, and third route c are 1.63h, 1.63h, and 2.08h, respectively. The third routes with the shortest time are third route a and third route b. Either third route a or third route b can be used as the required second route, such as using third route a as the second route.

[0069] In this embodiment of the application, since the inspection equipment can perform inspection tasks based on each third route, the third route with the shortest time consumption is selected as the final required second route. Automatic inspection is performed based on the third route with the shortest time consumption (i.e. the second route), which can reduce the time required for inspection and thus improve the efficiency of automatic inspection.

[0070] In some embodiments, step A1 above includes:

[0071] For each of the first routes, based on the topology map, the time taken for each of the fourth routes that execute the inspection task starting from the target inspection position corresponding to the first route is calculated, and the third route is determined based on the fourth route with the shortest time. The fourth route is an inspection route that includes all the target inspection positions.

[0072] Specifically, the fourth route corresponding to the target inspection location is the inspection route that takes that target inspection location as the first inspection location and includes all target inspection locations. Since each target inspection location may correspond to multiple fourth routes, for ease of subsequent calculation, the time consumption corresponding to each fourth route is calculated based on the topology map, and the fourth route with the shortest time consumption among the fourth routes corresponding to each target inspection location is taken as the third route corresponding to that target inspection location. For example, as... Figure 2 The topology map shown includes inspection locations A, B, and C at address M (the starting address of the inspection equipment). Routes ① to ⑦ are feasible routes determined based on road conditions. Assuming B and C are target inspection locations determined by the inspection task, the fourth routes corresponding to the first route ③ are ⑥⑦ and ⑤④, and the fourth routes corresponding to the first route ②④ are ④⑤, ⑦⑥, ⑧①③, and ⑧①②⑤. Assuming the inspection equipment's speed is fixed during the inspection process, the fourth route with the shortest travel time is the fourth route with the shortest total distance. Since the actual inspection starts from M, the time taken to determine the shortest fourth route also includes the time taken by the corresponding first route. Therefore, the actual route with the shortest total distance is ③⑥⑦, which means the determined third route is ③⑥⑦.

[0073] In some embodiments, S105 includes:

[0074] The above-mentioned environmental image is detected using a trained neural network model to obtain detection results. The detection results are used to indicate whether the target device exists in the above-mentioned environmental image, and when the target device exists in the above-mentioned environmental image, the location information of the target device is output.

[0075] Specifically, a trained neural network model is used to detect whether a target device exists in an environmental image, and a corresponding detection result indicating whether a target device exists in the environmental image is obtained. In order to facilitate the determination of the exact location information of the detected target device in the target inspection position, when a target device is detected in the environmental image, the location information of the target device in the current target inspection position is determined based on the location information of the detected target device, and the location information of the target device in the target inspection position is output.

[0076] In this embodiment of the application, when a target device is detected in an environmental image, the position information of the target device in the current environment, i.e. the target detection position, is determined based on the position information of the target device in the environmental image. This enables the inspection device to accurately inspect the target device in the target inspection position based on the position information, thereby improving inspection efficiency.

[0077] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0078] Example 2:

[0079] Corresponding to the inspection method described in the above embodiments, Figure 3 A structural block diagram of the inspection device provided in the embodiments of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0080] Reference Figure 3 The device includes: a task determination module 31, a first route acquisition module 32, a second route acquisition module 33, an inspection module 34, a detection module 35, and an equipment inspection module 36. Among them,

[0081] The task determination module 31 is used to determine the target inspection location based on the inspection task, and the number of the target inspection locations is greater than 1.

[0082] The first route acquisition module 32 is used to determine a first route for each of the above-mentioned target inspection locations based on a pre-built topology map and the above-mentioned target inspection locations. The first route is the optimal route between the first location and the above-mentioned target inspection location. The first location is the initial location of the inspection equipment.

[0083] The second route acquisition module 33 is used to determine a second route based on each of the first routes mentioned above. The second route is the optimal route for the inspection equipment to perform the inspection task.

[0084] Inspection module 34 is used to navigate the inspection device according to the second position and the second route, and to collect environmental images of the target inspection position when the inspection device reaches each target inspection position, wherein the second position is the real-time position of the inspection device.

[0085] The detection module 35 is used to detect whether the target device in the above-mentioned inspection task exists in the above-mentioned environmental image, and when the target device exists in the above-mentioned environmental image, determine the location information of the target device.

[0086] The equipment inspection module 36 is used to inspect the target equipment based on the location information of the target equipment.

[0087] In this embodiment, since the number of target inspection locations to be inspected is greater than one, meaning the inspection device needs to inspect multiple target inspection locations, to improve the inspection efficiency of the inspection device, the corresponding target inspection locations are first determined according to the inspection task. Then, based on the pre-built topology map and the target inspection locations, the optimal first route between the initial position of the inspection device and the target inspection locations is determined. Based on each first route, the optimal route for the inspection device to perform the inspection task is determined, resulting in a second route. Since the second position is the real-time position of the inspection device, and the second route is the optimal route for the inspection device to perform the inspection task (i.e., the route with the shortest time or the shortest distance), the inspection device is navigated based on the second position and the second route, enabling the inspection device to automatically inspect each target inspection location with high efficiency when performing the inspection task. Meanwhile, when the inspection equipment arrives at each target inspection location, it detects whether the target equipment in the inspection task exists in the target inspection location based on the environmental image of the target inspection location. When the target equipment exists in the environmental image, it obtains the location information of the target equipment, so that the inspection equipment can perform inspections on the target equipment more accurately based on the location information of the target equipment, thereby improving the efficiency of automatic inspection.

[0088] In some embodiments, the above-mentioned inspection device further includes:

[0089] The feasible route acquisition module is used to determine the feasible routes between each pair of the above-mentioned inspection locations based on all inspection locations and road conditions in the target area.

[0090] The topology map construction module is used to construct a topology map of the target area based on each of the above-mentioned inspection locations and each of the above-mentioned feasible routes, and to mark the distances corresponding to each of the above-mentioned feasible routes on the topology map. The distances are used to calculate the time consumed by the inspection equipment when it performs inspections according to the above-mentioned feasible routes.

[0091] In some embodiments, the second route acquisition module 33 includes:

[0092] The third route acquisition unit is used to determine the third route corresponding to each of the first routes based on the topology map. The third route is the optimal route for the inspection equipment to perform the inspection task based on the first route.

[0093] The second route acquisition unit is used to determine the third route with the shortest time consumption based on each of the aforementioned third routes, and obtain the second route.

[0094] In some embodiments, the second route acquisition module 33 further includes:

[0095] The third route determination unit is used to calculate the time taken for each of the first routes, based on the topology map, the time taken for each of the fourth routes that execute the inspection task starting from the target inspection position corresponding to the first route, and to determine the third route based on the fourth route with the shortest time taken. The fourth route is an inspection route that includes all the target inspection positions.

[0096] In some embodiments, the detection module 35 includes:

[0097] The detection result unit is used to detect the above-mentioned environmental image using a trained neural network model to obtain a detection result. The detection result is used to indicate whether the above-mentioned target device exists in the above-mentioned environmental image, and outputs the location information of the target device when the above-mentioned target device exists in the above-mentioned environmental image.

[0098] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0099] Example 3:

[0100] Figure 4 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Figure 4 As shown, the terminal device 4 in this embodiment includes: at least one processor 40 ( Figure 4 The diagram shows only one processor, a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, which, when executing the computer program 42, performs the steps in any of the above method embodiments.

[0101] The terminal device 4 can be a desktop computer, laptop, handheld computer, or cloud server, etc. This terminal device may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will understand that... Figure 4 This is merely an example of terminal device 4 and does not constitute a limitation on terminal device 4. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0102] The processor 40 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0103] In some embodiments, the memory 41 may be an internal storage unit of the terminal device 4, such as a hard disk or memory of the terminal device 4. In other embodiments, the memory 41 may be an external storage device of the terminal device 4, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the terminal device 4. Furthermore, the memory 41 may include both internal and external storage units of the terminal device 4. The memory 41 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 41 can also be used to temporarily store data that has been output or will be output.

[0104] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0105] This application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0106] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0107] This application provides a computer program product that, when run on a terminal device, enables the terminal device to implement the steps described in the various method embodiments above.

[0108] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0109] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0110] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0111] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0112] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0113] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An inspection method, characterized in that, include: The target inspection locations are determined based on the inspection task, and the number of target inspection locations is greater than 1. For each target inspection location, a first route is determined based on a pre-built topology map and the target inspection location. The first route is the optimal route between the first location and the target inspection location, and the first location is the initial location of the inspection equipment. A second route is determined based on each of the first routes. The second route is the optimal route for the inspection equipment to perform the inspection task. The optimal route is the route with the least time or the shortest distance. The inspection equipment is navigated according to the second location and the second route, and when the inspection equipment reaches each of the target inspection locations, the environmental image of the target inspection location is collected by the inspection equipment, where the second location is the real-time location of the inspection equipment. The system detects whether the target device in the inspection task exists in the environmental image, and when the target device exists in the environmental image, it determines the position information of the target device in the target inspection location based on the position information of the target device in the environmental image, thereby obtaining the position information of the target device. The target device is inspected based on its location information; The step of determining the second route based on each of the first routes includes: For each of the first routes, a third route corresponding to the first route is determined according to the topology map. The third route is the optimal route for the inspection equipment to perform the inspection task based on the first route. Based on each of the third routes, the third route with the shortest time is determined to obtain the second route. If the number of third routes with the shortest time is greater than 1, the second route is determined based on the energy consumption of each third route with the shortest time.

2. The inspection method as described in claim 1, characterized in that, For each of the first routes, determining the corresponding third route based on the topology map includes: For each of the first routes, the time taken to execute the inspection task of each of the fourth routes starting from the target inspection position corresponding to the first route is calculated according to the topology map, and the third route is determined according to the fourth route with the shortest time. The fourth route is an inspection route that includes all the target inspection positions.

3. The inspection method as described in claim 2, characterized in that, Also includes: Determine the feasible routes between each pair of inspection locations based on all inspection locations and road conditions in the target area; A topology map of the target area is constructed based on each inspection location and the corresponding feasible route, and the distance corresponding to each feasible route is marked on the topology map. The distance is used to calculate the time consumed by the inspection equipment when it performs inspections according to the feasible routes.

4. The inspection method as described in claim 1, characterized in that, The step of detecting whether the target device in the inspection task exists in the environmental image, and determining the location information of the target device when the target device exists in the environmental image, includes: The environmental image is detected using a trained neural network model to obtain detection results. The detection results are used to indicate whether the target device exists in the environmental image, and the location information of the target device is output when the target device exists in the environmental image.

5. An inspection device, characterized in that, include: The task determination module is used to determine the target inspection location based on the inspection task, wherein the number of target inspection locations is greater than 1. The first route acquisition module is used to determine a first route for each target inspection location based on a pre-built topology map and the target inspection location. The first route is the optimal route between the first location and the target inspection location, and the first location is the initial location of the inspection equipment. The second route acquisition module is used to determine a second route based on each of the first routes, wherein the second route is the optimal route for the inspection equipment to perform the inspection task; The inspection module is used to navigate the inspection equipment according to the second location and the second route, and to collect environmental images of the target inspection location when the inspection equipment reaches each target inspection location, wherein the second location is the real-time location of the inspection equipment; The detection module is used to detect whether the target device in the inspection task exists in the environmental image, and when the target device exists in the environmental image, to determine the position information of the target device in the target inspection location based on the position information of the target device in the environmental image, thereby obtaining the position information of the target device; The equipment inspection module is used to inspect the target equipment based on its location information. The second route acquisition module includes: The third route acquisition unit is used to determine the third route corresponding to each first route based on the topology map. The third route is the optimal route for the inspection equipment to perform the inspection task based on the first route. The second route acquisition unit is used to determine the third route with the shortest time consumption based on each of the third routes, and obtain the second route. If the number of the third routes with the shortest time consumption is greater than 1, the second route is determined based on the energy consumption of each of the third routes with the shortest time consumption.

6. The inspection device as described in claim 5, characterized in that, The device further includes: The feasible route determination module is used to determine the feasible routes between each pair of inspection locations based on all inspection locations and road conditions in the target area. The topology map construction module is used to construct a topology map of the target area based on each of the inspection locations and each of the feasible routes, and to mark the distances corresponding to each of the feasible routes on the topology map. The distances are used to calculate the time consumed by the inspection equipment when it performs inspections according to the feasible routes.

7. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 4.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 4.

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